US6902015B2 - Two-leg walking humanoid robot - Google Patents

Two-leg walking humanoid robot Download PDF

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Publication number
US6902015B2
US6902015B2 US10/466,316 US46631603A US6902015B2 US 6902015 B2 US6902015 B2 US 6902015B2 US 46631603 A US46631603 A US 46631603A US 6902015 B2 US6902015 B2 US 6902015B2
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Prior art keywords
robot
leg
attached
movable relative
biped walking
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Expired - Fee Related, expires
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US10/466,316
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US20040060746A1 (en
Inventor
Takayuki Furuta
Ken Tomiyama
Hiroaki Kitano
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Japan Science and Technology Agency
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Japan Science and Technology Agency
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers

Definitions

  • the present invention relates to a biped (two-footed) walking humanoid robot and, in particular, to a biped walking humanoid robot which is so designed that shocks acting on various parts of the robot when it falls can be relieved and its state or type of fall can then be detected.
  • a biped walking robot as it is called in the art has so far been made able to walk with two legs by producing in advance data for a pre-established walking pattern (hereinafter referred to as “gait”) and actuating the legs in a controlled manner in accordance with the gait data so that the robot can bipedally walk as desired.
  • gait a pre-established walking pattern
  • Such a conventional biped walking robot tends to become unstable in walking position due, for example, to floor or ground surface conditions and an error in the physical parameters of the robot itself and may then even turn over or fall violently.
  • a biped walking humanoid robot which includes a body portion having an upper and a lower part, a pair of leg portions attached to the lower part of the body portion at a pair of its opposite sides, respectively, a pair of arm portions attached to the upper part of the body portion at a pair of its opposite sides, respectively, and a head portion attached to an upper end of the upper part of the body portion, wherein each of the leg portions includes tow upper leg portions attached to the lower part of the body portion so as to be pivotally movable relative thereto triaxially, a lower leg portion attached to the upper leg portion so as to be pivotally movable relative thereto monoaxially, and a foot portion attached to the lower leg portion so as to be pivotally movable relative thereto biaxially, wherein each of the arm portions includes two upper arm portions attached to the upper part of the body portion so as to be pivotally movable relative thereto biaxially, a lower arm portion attached to the upper arm
  • a biped walking humanoid robot according to the present invention is preferably so configured in each of such contact detectors that the said pressure sensor and the said impact absorbing material are integrally formed and more preferably that the said casing portion, the said pressure sensor and the said impact absorbing material are formed integrally.
  • a biped walking humanoid robot according to the present invention is also preferably so configured in each of such contact detectors that the said casing portion lies at an outermost side thereof, or that the said pressure sensor lies at an outermost side thereof, or that the said impact absorbing material lies at an outermost side thereof.
  • a biped walking humanoid robot is preferably so configured that each of the aid body portion, the upper and lower arm portions of the said arm portions, and the upper and lower leg portions of the said leg portions has a curved outer covering surface that is convex in contour.
  • a biped walking humanoid robot is preferably so configured that for each of the said leg portions, the said foot portion is made pivotally movable relative to the said lower leg portion in a pitch direction in a range of angles from ⁇ 20 to +20 degrees or more, the said lower leg portion is made pivotally movable relative to the said upper leg portion in a pitch direction in an range of angles from 0 to +60 degrees or more, and the said upper leg portion is made pivotally movable relative to said body portion in a pitch direction in a range of angles from 0 to +45 degrees or more, and the said body portion is made able to bend forward in a range of angles from 0 to +30 degrees or more.
  • a biped walking humanoid robot is preferably so configured that those of the said drive means for pivotally moving the foot portion, the lower leg portion and the upper leg portion of each of the said leg portions, respectively, are disposed inclined to one another so as not to hinder pivotal movements of the said foot portion, the said upper portion and the said lower leg portions.
  • any shock acting on any of these parts hitting on the floor or ground can be absorbed by the impact absorbing material.
  • the state or type of this fall can be determined by the control means in response to a contact signal detected by the pressure sensor in the contact detector at a relevant part of the abovementioned robot parts which is brought into contact with the floor or ground. Then, on the basis of the type of the fall determined, the control means is allowed to act on the drive means to move the arm and leg parts suitably so as to cause the robot to take a corrective falling action to have a safety fall and then to move to taking a rising action to get up on its feet.
  • each contact detector Forming integrally the pressure sensor and the impact absorbing material, or the casing portion, the pressure sensor and the impact absorbing material, in each of the contact detectors allows each contact detector to be simplified in makeup and to be readily assembled.
  • disposing the casing portion at the outermost side is advantageous in that when the biped walking humanoid robot falls to cause the contact detector to hit on the floor or ground, the casing comes into direct contact with the floor or ground, thereby protecting the pressure sensor, the impact resistant material and further the inner structure of the robot from the shock.
  • disposing the pressure sensor at the outermost side is advantageous in that when the biped walking humanoid robot falls, the pressure sensor comes into direct contact with the floor or ground, thereby making most certain of sensing the pressure contact of the contact detector with the floor or ground.
  • each contact detector disposing the impact absorbing material at the innermost side is advantageous in that when the biped walking humanoid robot falls to cause the contact detector to hit on the floor or ground, the impact absorbing material comes into direct contact with the floor or ground, thereby making for most certain of absorbing the shock.
  • the foot portion is made pivotally movable relative to the lower leg portion in a pitch direction in a range of angles between ⁇ 20 and +20 degrees
  • the lower leg portion is made pivotally movable relative to the upper leg portion in a pitch direction in an range of angles between 0 and +60 degrees
  • the upper leg portion is made pivotally movable relative to body portion in a pitch direction in a range of angles between 0 and +45 degrees
  • the body portion is made able to bend forward in a range of angles between 0 and +30 degrees
  • the biped humanoid robot in its rising action from the state of a fall is allowed to rise for certain by virtue of the fact that the foot portion, the lower leg portion and the upper leg portion of each of the leg portions are prevented in their respective pivotal movements from interfering with one another.
  • FIG. 1 shows an external appearance of a biped walking humanoid robot according to the present invention as one form of embodiment thereof, wherein FIG. 1 A and FIG. 1B are a schematic front and a schematic side elevation view thereof, respectively;
  • FIG. 2 is a schematic diagram illustrating a mechanical makeup of the biped walking humanoid robot shown in FIG. 1 ;
  • FIG. 3 is an enlarged perspective view illustrating a contact detector as it is decomposed, in the biped walking humanoid robot shown in FIG. 1 ;
  • FIG. 4 is a schematic view illustrating respective angular limits of pivotal forward movements of the body portion at an anteflex region, and the upper and lower legs and the foot of each of the legs about their respective joints of the biped walking humanoid robot shown in FIG. 1 ;
  • FIG. 5 is a schematic view illustrating respective angular limits of pivotal forward (backward) movements of the body portion at the anteflex region, and the upper and lower legs and the foot of each of the legs about their respective joints of the biped walking robot shown in FIG. 1 ;
  • FIG. 6 shows a preferred layout of joint drive motors for each of the legs of the biped walking humanoid robot shown in FIG. 1 , wherein FIGS. 6A and 6B are schematic diagrams illustrating their positions taken when the robot stands upright and has pivotal movements produced thereby, respectively;
  • FIG. 7 is a block diagram illustrating an electrical makeup of the biped walking robot shown in FIG. 1 ;
  • FIG. 8 schematically illustrates the biped walking robot of FIG. 1 having a forward fall and taking a corrective action to have a safety fall, specifically showing the robot before its fall at (A), having the forward fall at (B) and having the safety fall at (C);
  • FIG. 9 schematically illustrates the biped walking robot of FIG. 1 having a backward fall and taking a corrective action to have a safety fall, specifically showing the robot before its fall at (A), having the backward fall (B) and having the safety fall (C).
  • FIGS. 1 and 2 show how a biped walking humanoid robot according to the present invention is constructed in one form of implementation thereof.
  • the biped walking robot indicated by reference character 10 includes a trunk 11 having a pair of legs 12 L and 12 R attached to its lower part 11 b at a pair of opposite sides thereof, respectively, a pair of arms 13 L and 13 R attached to its upper part 11 a at a pair of opposite sides thereof, respectively, and a head 14 attached to its upper end.
  • An anteflex region 11 c separates the upper and lower parts 11 a and 11 b of the trunk 11 from each other.
  • the upper trunk part 11 a is supported pivotally at the anteflex region 11 c so as to be able to swing forth and back and especially to be able to bend forward.
  • the trunk 11 contains a control means to be described later, and the anteflex region 11 c is constituted by a joint drive motor in such motors shown in and to be described in connection with FIG. 2 .
  • Each of the legs 12 L and 12 R is made of an upper leg 15 L, 15 R, a lower leg 16 L, 16 R, and a foot 17 L, 17 R.
  • each of the legs 12 L and 12 R as shown in FIG. 2 has six (6) joint regions, namely stated in turn from upside, a waist joint region 18 L, 18 R for turning (pivotally moving) the corresponding leg 12 L, 12 R relative to the trunk 11 , a first hip joint region 19 L, 19 R for turning the leg about a roll x-axis.
  • a second hip joint region 20 L, 20 R for turning the leg about a pitch y-axis
  • a second ankle joint region 24 L, 24 R for turning the foot 17 L, 17 R about a roll axis.
  • Each of these joint regions 18 L, 18 R ⁇ 24 L, 24 R is constituted as and by a joint drive motor. It follows, therefore, that the waist/hip joints are constituted by the joints 18 L, 18 R, 19 L, 19 R and 20 L, 20 R while the foot joints are by the joints 23 L, 23 R and 24 L, 24 R.
  • This makeup provides the six (6) degrees of freedom for each of the left and right hand side legs 12 L, 12 R of the biped walking humanoid robot 10 .
  • the robot 10 is thus so configured that if these twelve (12) joint regions are adapted to be driven by the respective drive motors in a controlled manner to make proper angular movements such as to move the legs 12 L and 12 R properly as a whole, the robot is rendered capable of walking in any way as desired in a three-dimensional space.
  • Each of the arms 13 L and 13 R is made of an upper arm 25 L, 25 R, a lower arm 26 L, 26 R and a hand 27 L, 27 R.
  • the upper arm 25 L, 25 R the lower arm 26 L, 26 R and the hand 27 L, 27 R are each made pivotally movable monoaxially or biaxially as in each of the legs 12 L and 12 R.
  • Each of the joint regions is constituted as and by a joint drive motor. Given appropriate degrees of freedom in this manner, each of the left and right hand arms 13 L and 13 R of the biped walking humanoid robot 10 is made movable as desired.
  • the head 14 which is mounted to the upper end of the upper trunk part 11 a of the trunk body 11 is provided with a camera for vision and a microphone for audition.
  • the biped walking humanoid robot 10 of the invention constructed as mentioned above is essentially the same in makeup as the conventional biped walking humanoid robot but is novel and unique in makeup as mentioned below.
  • each of the upper and lower trunk parts 11 a and 11 b of the trunk body 11 , the upper legs 15 L and 15 R and the lower legs 16 L and 16 R of the legs 12 L and 12 R, and the upper arms 25 L and 25 R and the lower arms 26 L and 26 R of the arms 13 L and 13 R has a curved outer covering surface area that is convex or bulged in outline as shown in FIG. 1 and formed of an impact resistant material such as, for instance, styrofoam.
  • the contact detector 40 as shown in FIG. 3 comprises an outer casing portion 41 of a material that constitutes the outer covering surface areas of the robot mentioned above, a pressure sensor 42 disposed inwards of the outer covering portion 41 and an impact absorbing material 43 disposed interiorly of the pressure sensor 42 .
  • Such outer covering portions 41 are convex in contour and formed of an impact resistant material such as, for instance, styrofoam as are the surface areas of the other parts of the robot mentioned above.
  • the pressure sensor 42 when the biped walking humanoid robot 10 falls down or over is adapted to sense a contact pressure produced upon the corresponding contact detector 40 forcibly coming into contact with the floor or ground to provide a contact sensing signal for the control means or stage to be described later.
  • the impact absorbing material made, e. g., of sorbothane is designed to absorb a shock which that contact detector 40 may receive from the floor or ground when the biped walking humanoid robot 10 falls down or over.
  • the contact detector 40 is shown comprising, from outer to inner, the covering or casing portion 41 , the pressure sensor 42 and the impact absorbing material 42 , they may be arranged in any order as desired.
  • disposing the casing portion 41 at the outermost side is advantageous in that when the biped walking humanoid robot 10 falls to cause the contact detector 40 to hit on the floor or ground, the casing 41 comes into direct contact with the floor or ground, thereby protecting the pressure sensor 42 , the impact resistant material 43 and further the inner structure of the robot from the shock.
  • Disposing the pressure sensor 42 at the outermost side is advantageous in that when the biped walking humanoid robot 10 falls, the pressure sensor 42 comes into direct contact with the floor or ground, thereby making most certain of sensing the pressure contact of the contact detector 40 with the floor or ground.
  • Disposing the impact absorbing material 43 at the innermost side is advantageous in that when the biped walking humanoid robot 10 falls to cause the contact detector 40 to hit on the floor or ground, the impact absorbing material comes into direct contact with the floor or ground, thereby making for most certain of absorbing the shock.
  • the contact detector 40 is shown comprising the casing portion 41 , the pressure sensor 42 and the impact absorbing material each separate from another, the casing portion 42 and the impact absorbing material, or the casing portion 41 , the pressure sensor 42 and the impact absorbing material 43 may be made integral.
  • the anteflex region 11 c of the trunk body 11 and the joints front side back in the legs 12 L and 12 R namely the hip joints 20 L and 20 R, the knee joints 22 L and 22 R and the ankle joints 23 L and 23 R are individually made pivotable within angular limits as shown in FIGS. 4 and 5 .
  • the ankle joints 23 L and 23 R are each made pivotable in a rage of angles ⁇ 1 from ⁇ 20 to +20 degrees.
  • the knee joints 22 L and 22 R are each made pivotable in a range of angles ⁇ 2 from 0 to +60 degrees.
  • the hip joints 20 L and 20 R are each made pivotable in a range of angles ⁇ 3 of 0 to +45 degrees.
  • the anteflex region 11 c of the trunk body 11 is each made pivotable in a range of angles ⁇ 4 from 0 to +30 degrees.
  • joint drive motors are provided for the anteflex region 11 c and the joints 20 L, 20 R, 22 L, 22 R, 23 L and 23 R and arranged as shown in FIG. 6 .
  • the joint drive motors M 2 , M 3 and M 4 for the anteflex region 11 c and the joints 20 L, 20 R, 22 L, 22 R, 23 L and 23 R have their respective drive shafts coupled via reducers G 2 , G 3 and G 4 to their output shafts G 2 a , G 3 a and G 4 a so as to drive the anteflex region 11 c and the joints 20 L, 20 R, 22 L, 22 R, 23 L and 23 R, thereby swinging or pivotally moving the upper trunk 11 a of the trunk body, 11 , the upper legs 15 L and 15 R, the lower legs 16 L and 16 R and the feet 17 L and 17 R about them, respectively.
  • the motors M 2 , M 3 and M 4 including the reducers G 2 , G 3 and G 4 , respectively, are disposed, as shown in FIG. 6A , inclined to one another so as not to hinder the pivotal movements at the anteflex region 11 c and the joints 20 L, 20 R, 22 L, 22 R, 23 L and 23 R.
  • This arrangement prevents the motors M 2 , M 3 and M 4 as shown in FIG. 6B from interfering with the swing motions or pivotal movements, when effected, at the anteflex region 11 c and the joints 20 L, 20 R, 22 L, 22 R, 23 L and 23 R.
  • FIG. 7 which shows the electrical makeup of the biped walking humanoid robot shown in FIGS. 1 to 6 , there is shown a walk controller 50 for controlling the driving actions of the drive means, namely the drive motors for the anteflex region 11 c , and the joints 18 L, 18 R to 24 L and 24 R.
  • the controller 50 comprises a control stage 51 and a motor control unit 52 .
  • the control stage 51 is designed to form a control signal for each of the joint drive motors on the basis of a preestablished gait pattern.
  • the motor control unit 52 is designed to drive each of the joint drive motors controllably in accordance with a control signal from the control stage 51 .
  • the control stage 51 when the biped walking humanoid robot 10 is falling is so designed that it is responsive to contact sensing signals from the pressure sensors 42 of the contact detectors 40 to determine a type of the fall the robot is then having.
  • the control stage 51 is then designed to form control signals for the joint drive motors so that the robot 10 takes a preestablished safety fall and thereafter a preestablished rising action or motion pattern.
  • the biped walking humanoid robot 10 is actuated to walk normally when the joint drive motors for the anteflex region 11 c , and the joints 18 L, 18 R to 24 L and 24 R are controllably driven by the motor control unit 52 furnished with control signals formed at the control stage 51 in the walk controller 50 on the basis of a preestablished gait pattern.
  • the biped walking humanoid robot 10 may become unstable in its walking posture and might then be falling forward.
  • the pressure sensor in the contact detector 40 mounted at a center region of the sole of each of the feet 17 L and 17 R provides a pressure signal for the control stage 51 which in turn judges that the robot is walking stably to allow it to continue to walk.
  • the pressure sensor in the contact detector 40 mounted at the wrist 29 L, 29 R of one of the arms 13 L and 13 R responds to this and provides a contact signal for the control stage 51 which in turn judges that the robot is falling forward and provides the motor control unit 52 with control signals such as to cause the robot 10 to take a corrective falling action to have a safety fall with both the elbows 28 L and 28 R and both the knees 21 L and 21 R on the floor or ground as shown in FIG. 8 C. Further, any shock acting on each of the elbows 28 L and 28 R and the knees 21 L and 21 R when it hits on the floor or ground is absorbed by the impact absorbing element 43 in the contact detector 40 mounted in each of these robot's parts.
  • the control stage 51 can accurately determine an exact posture of the fall the robot 10 has. Hence, it can provide the motor control unit 52 with control signals such as to cause the robot 10 to take a rising action to get up on its feet. Then, provided with its cladding surfaces of the parts individually convex in contour, the robot 10 is allowed to make the successive rising movements smoothly.
  • the biped walking humanoid robot 10 becoming unstable in its walking posture might also be falling backward.
  • the pressure sensor in the contact detector 40 mounted at the center region of the sole of each of the feet 17 L and 17 R provides a pressure signal for the control stage 51 which in turn judges that the robot is walking stably to allow it to continue to walk.
  • the pressure sensor 42 in the contact detector 40 mounted at the heel 31 L, 31 R of one of the feet 17 L and 17 R responds to this and provides a contact signal for the control stage 51 which in turn judges that the robot is falling backward and provides the motor control unit 52 with control signals such as to cause the robot 10 to take a corrective action to have a safety fall with the behind 32 , the back 33 and both elbows 28 L and 28 R on the floor or ground as shown in FIG. 8 C. Further, any shock acting on each of the behind 32 , the back 33 and both elbows 28 L and 28 R when it hits on the floor or ground is absorbed by the impact absorbing element 43 in the contact detector 40 mounted in each of these robot's parts.
  • the control stage 51 can accurately determine an exact posture of the fall the robot 10 has. Hence, it can provide the motor control unit 52 with control signals such as to cause the robot 10 to take a rising action to get up on its feet. Then, provided with its cladding surfaces of the parts individually convex in contour, the robot 10 is allowed to make the successive rising movements smoothly.
  • a biped walking humanoid robot 10 of the present invention is allowed to take a corrective falling action to have a safety fall and then to smoothly shift to taking a rising action to get up on the feet, the corrective falling and rising actions meeting with the falling posture detected. Further, given the ability to grasp the posture of its fall, a biped walking humanoid robot 10 of the invention as illustrated is even capable of performing a forward and a backward roll in the course that it is falling to rise on its feet.
  • a biped walking humanoid robot in which a contact detector having an impact absorbing material is disposed at each of those parts of the robot which can hit on the floor or ground when the robot is falling down to or rolling over it, namely, at each of an outer area of an elbow portion formed between the upper and lower arm portions, and an outer area of a wrist portion formed between the lower arm portion and the hand portion of each of the arm portions, and a lower side of a toe formed in the foot portion, a lower side of a heel portion formed in the foot portion, and an outer area of a knee portion formed between the upper and lower leg portions of each of the leg portions, and a hip region and a back region of the body portion whereby any shock acting on any of these parts hitting on the floor or ground can be absorbed by the impact absorbing material.
  • the shock against the internal structure of each of these parts so alleviated, they are protected from any possible damage that should otherwise be the case when the biped walking humanoid robot happens to fall to or is attempting
  • the state or type of this fall can be determined by a control means in response to a contact signal detected by the pressure sensor in the contact detector at a relevant part of the abovementioned robot parts which is brought into contact with the floor or ground. Then, on the basis of the type of the fall determined, the control means is allowed to act on the drive means to move the arm and leg parts suitably so as to cause the robot to take a corrective falling action to have a safety fall and then to move to taking a rising action to get up on its feet.
US10/466,316 2001-06-07 2002-06-03 Two-leg walking humanoid robot Expired - Fee Related US6902015B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2001173263 2001-06-07
JP2001173263A JP3682525B2 (ja) 2001-06-07 2001-06-07 二脚歩行式人型ロボット
PCT/JP2002/005423 WO2002100607A1 (en) 2001-06-07 2002-06-03 Two-leg walking humanoid robot

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US20040060746A1 US20040060746A1 (en) 2004-04-01
US6902015B2 true US6902015B2 (en) 2005-06-07

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US (1) US6902015B2 (ja)
EP (1) EP1393867B1 (ja)
JP (1) JP3682525B2 (ja)
KR (1) KR100515276B1 (ja)
DE (1) DE60231300D1 (ja)
TW (1) TW544380B (ja)
WO (1) WO2002100607A1 (ja)

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